Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-21 07:14:22 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

formatting

Browse Source
This commit is contained in:
Oskar Weigl
2017-09-19 21:24:38 -07:00
parent ec3a890a9e
commit 0b53f02b7b
1 changed files with 6 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MotorControl/axis.cpp
+6 -13
View File
@@ -14,7 +14,7 @@ void axis_thread_entry(void const* temp_motor_ptr) {
//TODO: explicit axis number assignment
//for now we search for it
uint8_t ax_number = 0;
while(&motors[ax_number] != motor)
while (&motors[ax_number] != motor)
++ax_number;
static const AxisConfig default_config;
@@ -25,14 +25,13 @@ void axis_thread_entry(void const* temp_motor_ptr) {
} // extern "C"
void Axis::SetupLegacyMappings() {
// Legacy reachability from C
legacy_motor_ref_->axis_legacy.enable_control = &enable_control_;
// override for compatibility with legacy comms paradigm
// TODO next gen comms
exposed_bools[4*axis_number_ + 1] = &enable_control_;
exposed_bools[4*axis_number_ + 2] = &do_calibration_;
exposed_bools[4 * axis_number_ + 1] = &enable_control_;
exposed_bools[4 * axis_number_ + 2] = &do_calibration_;
}
Axis::Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_ref)
@@ -44,12 +43,6 @@ Axis::Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_
}
void Axis::StateMachineLoop() {
//delete:
//motor_thread
//calibration_ok
//enable_control
//do_calibration
legacy_motor_ref_->motor_thread = osThreadGetId();
legacy_motor_ref_->thread_ready = true;
bool calibration_ok = false;
@@ -57,9 +50,9 @@ void Axis::StateMachineLoop() {
if (do_calibration_) {
do_calibration_ = false;
__HAL_TIM_MOE_ENABLE(legacy_motor_ref_->motor_timer);// enable pwm outputs
__HAL_TIM_MOE_ENABLE(legacy_motor_ref_->motor_timer); // enable pwm outputs
calibration_ok = motor_calibration(legacy_motor_ref_);
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(legacy_motor_ref_->motor_timer);// disables pwm outputs
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(legacy_motor_ref_->motor_timer); // disables pwm outputs
}
if (calibration_ok && enable_control_) {
@@ -75,7 +68,7 @@ void Axis::StateMachineLoop() {
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(legacy_motor_ref_->motor_timer);
legacy_motor_ref_->enable_step_dir = false;
if(enable_control_){ // if control is still enabled, we exited because of error
if (enable_control_) { // if control is still enabled, we exited because of error
calibration_ok = false;
enable_control_ = false;
}